#include "ros/ros.h"
#include <ros/package.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <sensor_msgs/Image.h>

#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include "radar_point_xyzdr.h"
#include <cv_bridge/cv_bridge.h>
#include <opencv2/core/core.hpp>
#include <opencv2/calib3d.hpp>
#include <radar_detector/radar_boundsConfig.h>
#include "std_msgs/Int8.h"

  struct initial_parameters
  {
    std::string camera_topic;
    std::string radar_topic;
    std::pair<int,int> grid_size;
    int square_length; // in millimetres
    std::pair<int,int> board_dimension; // in millimetres
    cv::Mat cameramat;
    cv::Mat distcoeff;
  }i_params;


